CN109746911A - System of processing - Google Patents
System of processing Download PDFInfo
- Publication number
- CN109746911A CN109746911A CN201811256810.8A CN201811256810A CN109746911A CN 109746911 A CN109746911 A CN 109746911A CN 201811256810 A CN201811256810 A CN 201811256810A CN 109746911 A CN109746911 A CN 109746911A
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- CN
- China
- Prior art keywords
- robot
- machine table
- processing
- workpiece
- position coordinates
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4061—Avoiding collision or forbidden zones
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
- G05B19/41825—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell machine tools and manipulators only, machining centre
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40476—Collision, planning for collision free path
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The system of processing has processing equipment (10), according to the numerical control device (20) of the machine table (11) of processing program mobile processing equipment (10), to the robot (30) handled of the workpiece W on machine table (11) and robot controller (40), numerical control device (20) is configured to the current position coordinates of machine table (11), it pre-reads processing program and carries out acceleration and deceleration interpolation and pre-read position coordinates calculate machine table (11) in the time of carrying out ahead of schedule, corresponding temporal information is sent to robot controller (40), robot controller (40) is using from the received current position coordinates of numerical control device (20) and described pre-reading position coordinates and the temporal information, the side of the movement of machine table (11) is followed with the front end of robot (30) Formula controls robot (30).
Description
Technical field
The present invention relates to a kind of systems of processing, more specifically, are related to a kind of processing using processing equipment and robot
System.
Background technique
It is well known to have with flowering structure as this system of processing.It goes forward side by side that is, pre-reading processing program in numerical control device
The status number for pre-reading the robot that mobile data is held with robot controller for the processing equipment that row interpolation is calculated
According to being sent to interference checking device, interference checking device the interference of processing equipment and robot is checked (for example, referring to
Patent document 1).
In addition, well known in addition, a kind of system of processing, has: the numerical control device with internal clocking has interior
The robot controller and reference clock of portion's clock keep processing equipment synchronous with robot (for example, referring to patent document 2).
In the system of processing, numerical control device and robot controller are so that respective internal clocking is consistent with reference clock
Mode act, on the other hand, when being configured to internal clocking and the benchmark in numerical control device and robot controller
When clock can not be aligned, reference clock is aligned with the internal clocking of numerical control device and robot controller.
Existing technical literature
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2017-16228 bulletin
Patent document 2: Japanese Unexamined Patent Publication 2009-279608 bulletin
Summary of the invention
Problems to be solved by the invention
In the former system of processing, in order to carry out the interference checking of processing equipment and robot, interference checking dress is needed
The dedicated device such as set.This is because processing equipment and robot are non-synchronization actions, and need to monitor asynchronous generation always
Deviation between the two.
In the system of processing of the latter, if the internal clocking of numerical control device and robot controller cannot be made
Consistent with reference clock, processing equipment just can not be synchronous with robot, when therefore, it is necessary to carry out making internal clocking and benchmark always
The consistent processing of clock, and when internal clocking and reference clock are inconsistent, it needs to stop system of processing.
Present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a kind of system of processing, it is not necessary to make processing equipment
And the internal clocking of robot is consistent with reference clock, without using special synchronous as interference checking device with device just
Robot can be made accurately to follow processing equipment.
The solution to the problem
In order to solve the above problems, the present invention uses following scheme.
In an embodiment of the invention, comprising: processing equipment, the processing equipment is to the work being located in machine table
Part is processed；Numerical control device, the numerical control device are stored with processing program, make described add according to the processing program
Work platform is mobile；Robot, the robot carry out predetermined processing to the workpiece processed by the processing equipment；Robot control
Device processed, the robot controller control the robot, and the numerical control device is configured to, in the shifting of the machine table
In dynamic, obtain the current position coordinates of the machine table, and by pre-read the processing program and carry out acceleration and deceleration interpolation come
The position coordinates that pre-read for machine table described in the time of carrying out ahead of schedule are calculated, and the current position coordinates, the pre- reading location are sat
Mark and respectively temporal information corresponding with the position coordinates are sent to the robot controller, the robot control dress
It sets using from the received current position coordinates of the numerical control device and described pre-reading position coordinates and the time
Information controls the robot in such a way that the movement of the machine table is followed in the front end of the robot.
In said embodiment, numerical control device by the current position coordinates of machine table and pre-reads position coordinates hair
It send to robot controller, robot controller utilizes the current position coordinates and pre- reading location of the machine table received
Coordinate controls robot in such a way that the movement of machine table is followed in the front end of robot.The current location of machine table obtains usual
It is carried out by multiple numerical control devices, the calculating for pre-reading position coordinates of machine table is on the basis of being processed generally also by more
A numerical control device carries out.Therefore, it is able to suppress the increase of numerical control device side processing.In addition, working as about machine table
Front position coordinate can use target position, the position that can also be measured using sensor.
On the other hand, robot controller according to numerical control device for machine table mobile control it is described current
Position coordinates and it is described pre-read position coordinates, carry out the movement locus of the front end of robot calculating and forward kinematics solution close
Through transport is calculated, and the rotation angle of each joint shaft motor for realizing the movement locus is calculated.Therefore, machine can be accurately realized
Device people's follows control.In addition, other than position coordinates, also from numerical control device transmission time information, so as to examine
The time change in the position coordinates of robot controller side is considered, even if numerical control device and robot controller exist
In the different control periods, be also able to carry out robot follows control.
In the above method, it is preferred that the machine table is configured to that multiple workpiece, the machine are located on it
Device people control device also utilizes the workpiece relative position for the mutual alignment relation for indicating the multiple workpiece in the machine table
Information controls the robot in such a way that the movement of the machine table is followed in the front end of the robot.
Here, in the case where carrying out identical processing respectively to multiple workpiece in machine table, in numerical control device,
Sometimes not to each setting processing program in multiple workpiece, but multiple workpiece are processed using a processing program.
At this point, numerical control device reads same processing program, carries out the machine table position corresponding to the location of workpiece to process each workpiece
The transformation set.
In said structure, due to utilizing workpiece relative position information corresponding with the amount of the transformation, with robot
The mode of the front end movement of following machine table control the robot, so being conducive to inhibit the processing of numerical control device side
Increase.
In the above method, it is preferred that the robot follows the machine table using the tool for being mounted on its front end
It is mobile while, regulation operation is carried out to the workpiece processed by the processing equipment.
When constituting like this, machine table can not be stopped, concurrently being advised by robot when keeping machine table mobile
It is set for industry, it is possible thereby to shorten turnaround time, is conducive to improve production efficiency.
In the above method, it is preferred that the robot controller by the processing equipment to the workpiece into
It is capable after processing is completed, and in the state that the machine table is in mobile, followed with the front end of the robot described
The mode of the movement of machine table controls the robot.
When constituting like this, there is a workpiece to be positioned in machine table, processing equipment completes the process the workpiece, and
Machine table is in the state of movement due to that can not stop machine table and in the case where keeping machine table mobile, for example, can be by
Robot carries out taking-up operation of the workpiece etc., so being conducive to shorten turnaround time.
In the above method, it is preferred that the robot controller is in addition to received from the numerical control device
The current position coordinates and it is described pre-read position coordinates and respectively the temporal information corresponding with the position coordinates it
Outside, it is also followed using the received position coordinates and the temporal information in the past with the front end of the robot described
The mode of the movement of machine table controls the robot.
In this configuration, in addition to current position coordinates and it is described pre-read position coordinates and its temporal information other than, machine
People's control device can be improved also using received position coordinates and its temporal information in the past for following machine table
The computational accuracy of the movement locus of the front end of robot, be conducive to accurately to realize robot follows control.
Invention effect
According to the present invention, it is not necessary to keep the internal clocking of processing equipment and robot consistent with reference clock, without using
Special synchronous as interference checking device can make robot accurately follow processing equipment with device, and can not
Stop machine table and in the case where keeping machine table mobile, so that robot is carried out defined operation in machine table, be conducive to
Shorten turnaround time.
Detailed description of the invention
Fig. 1 is the general principal view of the system of processing of an embodiment of the invention.
Fig. 2 is the perspective view of the major part of the processing equipment of the system of processing of present embodiment.
Fig. 3 is the block diagram of the numerical control device of the system of processing of present embodiment.
Fig. 4 is the example for the interpolation data that the numerical control device of present embodiment calculates.
Fig. 5 is the example for the interpolation data that the numerical control device of present embodiment calculates.
Fig. 6 is the block diagram of the robot controller of the system of processing of present embodiment.
Fig. 7 is the exemplary flow chart for indicating the control of the robot controller of present embodiment.
Fig. 8 is the exemplary flow chart for indicating the control of the robot controller of present embodiment.
Fig. 9 is the example for the interpolation data that the robot controller of present embodiment calculates.
Description of symbols:
10 processing equipments
11 machine tables
12 mobile devices
13 tool drives
20 numerical control devices
21 control units
23 storage devices
23a system program
23b processing program
23c processing control procedure
23d interpolation data sends program
30 robots
31 servo motors
32 tools
32a driving device
40 robot controllers
41 robot control units
43 storage devices
43a system program
43b operation program
43c follows program
44 servo controllers
T machining tool
W workpiece
L1 machining locus
The track L2
Specific embodiment
Referring to attached drawing, following explanation is carried out to the system of processing in first embodiment of the invention.
The system of processing, as shown in Figure 1, comprising: to the workpiece W for being maintained at machine table 11 processed such as NC working machine
The processing equipment 10 of tool etc.；It is stored with processing program 23b (referring to Fig. 3), according to the numerical value of the mobile machine table 11 of processing program 23b
Control device 20；The robot 30 of predetermined processing is carried out to the workpiece W processed by processing equipment 10；Control the machine of robot 30
People's control device 40.
Processing equipment 10 includes machine table 11；Make machine table 11 in X-direction (horizontal direction) and X-direction Y at right angle
The platform mobile device 12 moved on direction (horizontal direction)；Configuration is keeping the processing such as milling cutter, drill bit in the top of machine table 11
The tool drive 13 of processing is driven to while tool T.Machine table 11 has well known structure, in machine table 11
Upper surface positioned directly or through fixture etc. or be fixed with workpiece W.In the present embodiment, the side X in machine table 11
Workpiece W is located respectively at upward arranged side by side two.
Platform mobile device 12 is fixed on the main body 10a of processing equipment 10, has the track 12a extended to X-direction；By track
Mobile station 12b that 12a is supported, can moving in the X direction；It is located on mobile station 12b and along the track 12c of Y-direction extension, adds
Work platform 11 is supported on track 12c and can move in the Y direction.Platform mobile device 12 further has: having makes to move
The X-direction driving device 12d of motor, encoder, ball screw that platform 12b is moved in the X direction etc.；With making 11 phase of machine table
The Y-direction driving device 12e of the motor, encoder, the ball-screw that are moved in the Y direction for mobile station 12b etc..In addition, platform
Mobile device 12 is also configured to that machine table 11 can also be made mobile to Z-direction (vertical direction).
X-direction driving device 12d, Y-direction driving device 12e and tool drive 13 are connected to numerical control device
20, it is controlled by numerical control device 20.
As shown in figure 3, numerical control device 20 is such as having: control unit 21 there is CPU, RAM；Display device 22；
Storage device 23 with nonvolatile memory, ROM etc.；Input unit 24 with touch panel, enter key etc..Input dress
24 are set also to be configured to carry out wireless communication with numerical control device 20.
System program 23a is stored in storage device 23, system program 23a is responsible for the basic training of numerical control device 20
Energy.In addition, being stored with the X-direction driving device 12d for controlling processing equipment 10, Y-direction driving device in storage device 23
At least one of the processing program 23b that 12e and tool drive 13 are processed.
Whiles processing program 23b, the e.g. rotation etc. of control machining tool T, so that along based on CAD data etc.
What the machining tool T and workpiece W for being maintained at machine table 11 that machining locus is maintained at tool drive 13 made a relative move
The set of instruction.In the present embodiment, to workpiece W to be processed along machining locus L1 as shown in Figure 2,
Machine table 11 is moved relative to track of the machining tool T in X-direction and Y-direction along L2.
Storage device 23 is also stored with processing control procedure 23c.Control unit 21 is acted according to processing control procedure 23c, first
First, the location information (current position coordinates information) of current machine table 11 is obtained, and obtains it and obtains the time.Machine table 11
Position, such as can be obtained according to the detection data etc. of the encoder of X-direction driving device 12d and Y-direction driving device 12e
?.
In addition, control unit 21 is acted according to processing control procedure 23c, the instruction of processing program 23b is read multiple pieces in advance
Before, obtain it is multiple instruct include each machining locus machining starting point, processing terminal, processing method (straight line, curve etc.),
The information such as working depth calculate machining starting point according to the information and process the processing details between terminal.The processing is detailed
Information includes respective machining starting point and the processing for calculating the information of each machining locus, and including multiple defined times of carrying out ahead of schedule
The information (pre-reading location coordinate information) (interpolation processing) of the shift position (target position) of machine table 11 between terminal.
The multiple defined time of carrying out ahead of schedule is, for example, from current time TkStart to set every several milliseconds carries out ahead of schedule
Time Tk+1, Tk+2,.For example, as shown in Figure 4 and 5, acquiring respectively about X-direction and Y-direction every defined
It carries out ahead of schedule the shift position of time.
The mobile position every the defined time of carrying out ahead of schedule between the machining starting point for calculating each machining locus and processing terminal
When setting, the relative velocity between the machining tool T and workpiece W that correspond to machining locus, working depth etc. is calculated, every the rule
The relative velocity (acceleration and deceleration interpolation) is reflected in the shift position of fixed time of carrying out ahead of schedule.That is, when relative velocity is smaller, adjacent shifting
Amount of movement between dynamic position becomes smaller.
It is also stored with interpolation data in storage device 23 and sends program 23d.Control unit 21 is configured to be sent out according to interpolation data
It send program 23d to act, location coordinate information will be pre-read described in calculated processing details, is pre-read with described in
Multiple corresponding temporal informations of position coordinates (shift position of machine table 11) that pre-read in location coordinate information (correspond to pre-
Row temporal information), as current machine table 11 position current position coordinates information, its obtain the time information, every
Stipulated time sends to robot controller 40.
In the present embodiment, newest current position coordinates information is believed with multiple current position coordinates before this
Breath and its information for obtaining the time are sent together.In addition, calculating processing details in each numerical control device 20
Period (interpolation cycle) carries out the transmission.Furthermore it is possible to omit the transmission of the information of current time.
Robot 30 carries out the taking-up of the workpiece W in the machine table 11 of processing equipment 10 by being mounted on the tool of its front end
Operation, the installation exercise of workpiece W, the processing to workpiece W, deflashing operation, the inspection of machined surface, the cleaning in processing equipment 10
Operation as defined in operation etc..Robot 30 has multiple the upper arm members and joint, and has and respectively drive the more of multiple joints
A servo motor 31 (referring to Fig. 6).As each servo motor 31, it is able to use the various servo horses such as rotation motor, line motor
It reaches.Each servo motor 31 is built-in with the operating positions detection devices such as the encoder for detecting its operating position, operating position detection dress
The detected value set is sent to robot controller 40.
The front end of robot 30 is equipped with tool 32, carries out the defined operation by tool 32.In present embodiment
In, robot 30 is configured to the taking-up operation for carrying out taking out workpiece W from machine table 11, is equipped with work in the front end of robot 30
It is tool 32 for holding holding meanss i.e. chuck, the adsorbent equipment etc. of workpiece W.
As shown in fig. 6, robot controller 40 has: for example, the robot control unit 41 with CPU, RAM etc.；It is aobvious
Showing device 42；Storage device 43 with nonvolatile memory, ROM etc.；It is installed as dividing with the servo motor 31 of robot 30
Not corresponding multiple servo controllers 44；It is connect with robot controller 40 and introduction operation panel that operator can carry
45.Introduction operation panel 45 is also configured to carry out wireless communication with robot controller 40.
System program 43a is stored in storage device 43, system program 43a is responsible for the basic training of robot controller 40
Energy.In addition, being at least stored with an operation program 43b in storage device 43.
Robot control unit 41 is acted according to system program 43a, when carrying out the taking-up operation of workpiece W, reads storage dress
It sets the operation program 43b stored in 43 and follows program 43c and be temporarily stored in RAM, according to read operation program 43b
And follow program 43c and send control signal to each servo controller 44, each servo motor 31 of robot 30 is controlled as a result,
Servo amplifier, and control signal is sent to the driving device 32a of the tools such as cylinder 32 (referring to Fig. 6).
Robot controller 40 identifies the robot coordinate system set in robot 30.In addition, robot controller
40 also identify the coordinate of the processing equipment coordinate system or robot coordinate system and processing equipment coordinate system that set in processing equipment 10
Corresponding relationship.For example, by the front end installation calibrating tool in robot 30, and by truing tool insertion configuration in origin position
The first hole in machine table 11 set, alternatively, by the way that truing tool is also inserted into the machine table 11 deviated from the first hole to X-direction
On the second hole, robot controller 40 can identify processing equipment coordinate system or coordinate correspondence relationship.
There are two workpiece W for positioning in machine table 11, during being processed using workpiece W of the machining tool T to a side, machine
Device people control device 40 makes the taking-up operation of the workpiece W of the progress another party of robot 30.In other words, robot controller 40 exists
Machine table 11 in order to process other workpiece W and in X direction and Y-direction it is mobile in the state of, so that robot 30 is carried out another party
Workpiece W taking-up operation.
Referring to Fig. 7 to the operation program 43b based on robot control unit 41 at this time and follow program 43c processing an example
It is illustrated.Here, the workpiece W (hereinafter referred to as the first workpiece W) of a side is located in origin position, another in machine table 11
The workpiece W (hereinafter referred to as second workpiece W) of side is positioned at the position apart from origin position predetermined distance in the X-axis direction, such as
It is located in the position of distance 200mm, relative position (the workpiece relative position of the first workpiece W and second workpiece W in machine table 11
Information) it is sent from numerical control device 20 to robot controller 40, and it is stored in the storage dress of robot controller 40
Set 43.
In completing the process for second workpiece W, start the processing of the first workpiece W, robot control unit 41 connects from control unit 21
When receiving the notification signal for notifying the work pieces process information and the replacement of the replacement of second workpiece W being required to require signal (S1-1), machine
Device people control unit 41 makes the front end of robot 30 be moved to the side second workpiece W (S1-2) according to operation program 43b.
When the distance of the front end of robot 30 and machine table 11 is less than specified value (S1-3), robot control unit 41 is opened
File is followed data (aftermentioned), and the data of following add for following the front end of robot 30 by following program 43c
The movement (S1-4) of work platform 11.Then, robot control unit 41 follows data and operation program 43b using creation, in machine
In the state that the movement of machine table 11 is followed in the front end of people 30, by the configuration of the tool 32 of the front end of robot 30 can
The mode for holding the position of second workpiece W starts to send control signal (S1-5) to each servo controller 44.
Then, it configures in tool 32 when the position of second workpiece W configuration can be held, that is, the position of tool 32 and mesh
When the absolute value of the difference of cursor position is less than specified value (S1-6), robot control unit 41 follows processing in the front end of robot 30
In the state of the movement of platform 11, control signal is sent to driving device 32a, so that holding second workpiece W (S1- by tool 32
7).Next, robot control unit 41 is in the state that the movement of machine table 11 is followed in the front end of robot 30, to each servo
Controller 44 sends control signal, so that taking out the second workpiece W (S1-8) held.
For example, in the step S1-5~S1-8, movement of the front end of robot 30 in X-direction and Y-direction
It is controlled according to data are followed, the front end of robot 30 is in the movement of Z-direction and the movement of tool 32 according to operation program
43b is controlled.In addition, becoming only sharp when the distance of the front end of robot 30 and machine table 11 is greater than specified value (S1-9)
With the control (S1-10) of operation program 43b.The second workpiece W held as a result, is placed on defined workpiece site of storage.
In addition, completing the process in the first workpiece W, after the processing of second workpiece W starts, with second workpiece W above-mentioned
In the same manner, the first workpiece W is taken out the case where being removed by robot 30.
Such as operation program 43b is written as, in the state that machine table 11 stops, by the front end of robot 30 to processing
11 side of platform is mobile, holds the workpiece W in machine table 11 using tool 32, the workpiece W held is taken out from processing equipment 10.Cause
This, as described above, by following the front end of robot 30 using operation program 43b and data are followed when close to workpiece W
While the movement of machine table 11, using robot 30 front end tool 32 hold workpiece W, by the workpiece W held from
Processing equipment 10 takes out.
Referring to Fig. 8, when following data described in creation, according to the place for the robot control unit 41 for following program 43c movement
One example of reason is illustrated.
Firstly, when being determined as YES in the step S1-3 (S2-1), robot control unit 41 is filled according to from Numerical Control
Set 20 transmissions current position coordinates information, its obtain the time information and pre-read location coordinate information, correspondence carry out ahead of schedule the time
Information calculates current time t in the interpolation cyclekPlatform position (S2-2), and calculating robot's control unit 41 interpolation week
The interim time t that carries out ahead of schedulek+1, tk+2Platform position interpolation data (S2-3).The robot control unit 41 of present embodiment
Interpolation cycle it is longer than the interpolation cycle of the control unit 21 of numerical control device 20, but not limited to this.
Fig. 9 indicates the calculated example of the position in the X-direction of machine table 11.In Fig. 9, time T is obtainedkMiddle machine table 11
The position of X-direction is drawn according to the newest current position coordinates information sent from numerical control device 20 and its acquirement time
System.Since transmission processing, reception processing etc. need to spend the time, the current time t relative to robot control unit 41k, take
Obtain time TkFor the past time.Obtain time TkRelative to current time tkHysteresis can be set as example that certain is certain
Time.
Acquirement time T before also being drawn once in Fig. 9k-1In position and twice before acquirement time Tk-2In
Position.
On the other hand, according to location coordinate information is pre-read, the time T that carries out ahead of schedule for having machine table 11 is also drawn in Fig. 9k+1, Tk+2,
TkThe position of X-direction in+3.
Utilize acquirement time Tk、Tk-1、Tk-2Machine table 11 location information and carry out ahead of schedule time Tk+1、Tk+2、TkAdding in+3
The location information of work platform 11 can calculate current time t by production such as curve of approximationkIn machine table 11 X-direction
Position.It similarly can also calculate past time tk-1、tk-2In X-direction position.
It on the other hand, can will be relative to current time tkThe time t to carry out ahead of schedulek+1、tk+2The positions such as the curve of approximation
The time t that carries out ahead of schedule as robot controlk+1、tk+2Interpolation data.Like this, other than the past time, Neng Gougen
Go out interpolation data according to the positional information calculation comprising the time of carrying out ahead of schedule, thus creates and high-precision follow data.
Above-mentioned processing is processing in the X direction, and processing in the Y direction is same.
Next, robot control unit 41 is by current time tkIn machine table 11 position, carry out ahead of schedule time tk+1、tk+2's
Interpolation data is modified (S2-4) in a manner of being suitble to robot coordinate system.For example, robot control unit 41 is to current time
tkIn machine table 11 position and carry out ahead of schedule time tk+1, tk+2Interpolation data, only change with robot coordinate system and processing machine
The corresponding amount of the coordinate correspondence relationship of tool coordinate system, in addition, only change corresponds to taking-up pair using the workpiece relative position
As the amount for second workpiece W.In the present embodiment, since second workpiece W is positioned in relative to the first workpiece 1 in machine table
The position of distance 200mm in the X direction on 11, so corresponding to, to take out the amendment that object is second workpiece W be to chase after to X-direction
Add 200mm.
Robot control unit 41 utilizes step S1-5 machine into S1-8 described in well known robot control rule control as a result,
The front end of device people 30 is in the position of X-direction and Y-direction.At this point, using being corrected for that robot is suitble to sit in step S2-4
Mark the current time t of the machine table 11 of systemkIn position and the time t that carries out ahead of schedulek+1, tk+2In interpolation data so that robot
The mode that the second workpiece W in machine table 11 is followed in 30 front end controls robot 30.
Next, stopping, which is write, follows data (S2-6) when being determined as YES in the step S1-9 (S2-5).
Like this, according to the present embodiment, numerical control device 20 by the current position coordinates of machine table 11 and is pre-read
Position coordinates are sent to robot controller 40, and robot controller 40 utilizes the current location of the machine table 11 received
Coordinate and position coordinates are pre-read, controls robot 30 in such a way that the movement of machine table 11 is followed in the front end of robot 30.Add
The acquirement of the current position coordinates of work platform 11 is usually carried out by multiple numerical control devices 20, and machine table 11 pre-reads position coordinates
Calculating generally also carried out by multiple numerical control devices 20 on the basis of being processed.Therefore, it is able to suppress Numerical Control
The increase of the processing of 20 side of device.
On the other hand, mobile control of the robot controller 40 according to numerical control device 20 for machine table 11 is worked as
Front position coordinate and position coordinates are pre-read, the calculating and forward kinematics solution for carrying out the movement locus of the front end of robot 30 are closed
Through transport is calculated, and the target for calculating the servo motor 31 of each joint shaft for realizing the movement locus rotates angle.Therefore, Neng Gougao
That realizes to precision robot 30 follows control.In addition, even if numerical control device 20 and robot controller 40 are in difference
The control period, can also be accurately proceed robot 30 follows control.
In addition, in the present embodiment, machine table 11 is configured to that multiple workpiece W are located on it, robot control dress
40 are set also using the workpiece relative position information for the mutual alignment relation for indicating multiple workpiece W in machine table 11, with robot
The mode that the movement of machine table 11 is followed in 30 front end controls robot 30.
Here, in the case where carrying out identical processing respectively to multiple workpiece W in machine table 11, in numerical control device
In 20, processing program 23b is not set separately to multiple workpiece W sometimes, but utilizes a processing program 23b to multiple workpiece W
It is processed.At this point, numerical control device 20 reads same processing program 23b, and will correspond to work to process each workpiece W
11 position of machine table of the position of part W is converted.
In this configuration, due to being using workpiece relative position information corresponding with the amount of the transformation, with robot
The mode that the movement of machine table 11 is followed in 30 front end controls robot 30, so being conducive to inhibit 20 side of numerical control device
The increase of processing.
In the present embodiment, indicate that multiple workpiece W are positioned in machine table 11.In contrast, it is also configured to add
A workpiece W is only located on work platform 11.In this case, it is also configured to, for example, robot 30 is using before being mounted on it
The tool 32 at end follow machine table 11 it is mobile while, regulation operation is carried out to the workpiece W processed by processing equipment 10.As this
When sample is constituted, the movement of machine table 11 can be kept, so that robot 30 is provided under the movement for not stopping machine table 11
Operation is conducive to improve production efficiency thus, it is possible to shorten turnaround time.
In addition it is possible to workpiece W is being carried out after processing is completed by processing equipment 10 by robot controller 40,
In the state that machine table 11 is mobile, robot 30 is controlled in such a way that the movement of machine table 11 is followed in the front end of robot 30.
When constituting like this, there is a workpiece W to be positioned in machine table 11, processing equipment 10 processes workpiece W
At, and machine table 11 is in the state of movement, it, can not due to can for example carry out the taking-up operation of workpiece W by robot 30
The movement for stopping machine table 11 makes robot 30 carry out the taking-up operation of workpiece W, favorably under the movement for keeping machine table 11
In shortening turnaround time.
In addition, in the present embodiment, as the time for obtaining the control units 21 such as time, also can be used in each numerical value
The value of the counting for the control unit 21 that the interpolation cycle of control device 20 counts can also be with as the time of robot control unit 41
Use the value of the counting of the robot control unit 41 of the interpolation cycle counting in each robot controller 40.
It is rotated in addition, platform mobile device 12 is also configured to machine table 11 around X-axis and around Y-axis.In this case, it closes
In machine table 11 around X-axis and around the rotation position of the machine table 11 of Y-axis, numerical control device 20 will be with X-direction and Y-direction
It same current position coordinates information and pre-reads location coordinate information and is sent to robot controller 40, robot control dress
Set 40 makes the front end of robot 30 follow machine table 11 also with these information.
Further, platform mobile device 12 is also configured to move machine table 11 also in z-direction.In the situation
Under, the position of the machine table 11 about Z-direction, numerical control device 20 will in X-direction and the same current location of Y-direction
It coordinate information and pre-reads location coordinate information and is sent to robot controller 40, robot controller 40 is also with this
A little information make the front end of robot 30 follow machine table 11.
In addition, processing equipment 10 may not be NC work mechanism, moved as long as having and being controlled by numerical control device 20
Machine table 11.
Claims (5)
1. a kind of system of processing comprising:
Processing equipment processes the workpiece being located in machine table；
Numerical control device is stored with processing program, keeps the machine table mobile according to the processing program；
Robot carries out predetermined processing to the workpiece processed by the processing equipment；And
Robot controller controls the robot,
The numerical control device is configured to, and in the movement of the machine table, obtains the current position coordinates of the machine table,
And the pre- read bit of the machine table in the time of carrying out ahead of schedule is calculated by pre-reading the processing program and carrying out acceleration and deceleration interpolation
Set coordinate, and by the current position coordinates, described pre-read position coordinates and respectively time corresponding with the position coordinates
Information is sent to the robot controller,
The robot controller is utilized from received current position coordinates of the numerical control device and described pre-
Reading location coordinate and the temporal information control described in such a way that the movement of the machine table is followed in the front end of the robot
Robot.
2. system of processing according to claim 1, which is characterized in that
The machine table is configured to that multiple workpiece are located on it,
The robot controller also utilizes the work for the mutual alignment relation for indicating the multiple workpiece in the machine table
Part relative position information controls the machine in such a way that the movement of the machine table is followed in the front end of the robot
People.
3. system of processing according to claim 1, which is characterized in that
The robot using the tool for being mounted on its front end, follow the machine table it is mobile while to by the processing
The workpiece that machinery is processed carries out regulation operation.
4. system of processing according to any one of claim 1 to 3, which is characterized in that
The robot controller is carrying out after processing is completed the workpiece by the processing equipment, and in the processing
In the state that platform is in mobile, the machine is controlled in such a way that the movement of the machine table is followed in the front end of the robot
Device people.
5. system of processing according to claim 1, which is characterized in that
The robot controller is in addition to utilizing from the received current position coordinates of the numerical control device and institute
It states and pre-reads except position coordinates and the respectively temporal information corresponding with the position coordinates, also using received in the past
The position coordinates and the temporal information control in such a way that the movement of the machine table is followed in the front end of the robot
The robot.
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| JP2017-211899 | 2017-11-01 | ||
| JP2017211899A JP6640816B2 (en) | 2017-11-01 | 2017-11-01 | Processing system |
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| US (1) | US10625420B2 (en) |
| JP (1) | JP6640816B2 (en) |
| CN (1) | CN109746911B (en) |
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| CN112677150A (en) * | 2020-12-02 | 2021-04-20 | 广东博智林机器人有限公司 | Control method and device of mechanical arm, electronic equipment and storage medium |
| CN112894106A (en) * | 2019-12-04 | 2021-06-04 | 发那科株式会社 | Control device |
| CN115362420A (en) * | 2020-07-17 | 2022-11-18 | 三菱电机株式会社 | Numerical control device and numerical control method |
| CN115698875A (en) * | 2020-09-11 | 2023-02-03 | 三菱电机株式会社 | Numerical control device and industrial machine control system |
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| WO2021048976A1 (en) | 2019-09-12 | 2021-03-18 | 三菱電機株式会社 | Numerical control device |
| CN110508706B (en) * | 2019-09-18 | 2024-04-05 | 福州中澳科技集团股份有限公司 | Automatic feeding and discharging system of stamping production line robot and control method thereof |
| US20230415341A1 (en) * | 2020-11-13 | 2023-12-28 | Fanuc Corporation | Numerical control device and numerical control system |
| WO2022254566A1 (en) * | 2021-05-31 | 2022-12-08 | 株式会社Fuji | Processing system |
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Also Published As
| Publication number | Publication date |
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| JP2019086823A (en) | 2019-06-06 |
| DE102018218298A1 (en) | 2019-05-02 |
| CN109746911B (en) | 2020-06-26 |
| DE102018218298B4 (en) | 2021-01-14 |
| US20190126480A1 (en) | 2019-05-02 |
| US10625420B2 (en) | 2020-04-21 |
| JP6640816B2 (en) | 2020-02-05 |
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